warp-lang 1.0.0b5__py3-none-manylinux2014_x86_64.whl → 1.0.0b6__py3-none-manylinux2014_x86_64.whl

warp/tests/test_mesh_query_point.py

@@ -5,14 +5,13 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
+import math
 import unittest
 
 import numpy as np
-import math
 
 import warp as wp
-from warp.tests.test_base import *
-
+from warp.tests.unittest_utils import *
 
 wp.init()
 
@@ -44,6 +43,12 @@ def sample_mesh_query(
     query_faces[tid] = face_index
     query_dist[tid] = wp.length(cp - p)
 
+    query = wp.mesh_query_point(mesh, p, max_dist)
+    wp.expect_eq(query.sign, sign)
+    wp.expect_eq(query.face, face_index)
+    wp.expect_eq(query.u, face_u)
+    wp.expect_eq(query.v, face_v)
+
 
 @wp.kernel
 def sample_mesh_query_no_sign(
@@ -69,6 +74,11 @@ def sample_mesh_query_no_sign(
     query_faces[tid] = face_index
     query_dist[tid] = wp.length(cp - p)
 
+    query = wp.mesh_query_point_no_sign(mesh, p, max_dist)
+    wp.expect_eq(query.face, face_index)
+    wp.expect_eq(query.u, face_u)
+    wp.expect_eq(query.v, face_v)
+
 
 @wp.kernel
 def sample_mesh_query_sign_normal(
@@ -97,6 +107,12 @@ def sample_mesh_query_sign_normal(
     query_faces[tid] = face_index
     query_dist[tid] = wp.length(cp - p)
 
+    query = wp.mesh_query_point_sign_normal(mesh, p, max_dist)
+    wp.expect_eq(query.sign, sign)
+    wp.expect_eq(query.face, face_index)
+    wp.expect_eq(query.u, face_u)
+    wp.expect_eq(query.v, face_v)
+
 
 @wp.kernel
 def sample_mesh_query_sign_winding_number(
@@ -125,6 +141,12 @@ def sample_mesh_query_sign_winding_number(
     query_faces[tid] = face_index
     query_dist[tid] = wp.length(cp - p)
 
+    query = wp.mesh_query_point_sign_winding_number(mesh, p, max_dist)
+    wp.expect_eq(query.sign, sign)
+    wp.expect_eq(query.face, face_index)
+    wp.expect_eq(query.u, face_u)
+    wp.expect_eq(query.v, face_v)
+
 
 @wp.func
 def triangle_closest_point(a: wp.vec3, b: wp.vec3, c: wp.vec3, p: wp.vec3):
@@ -265,6 +287,7 @@ def triangulate(face_counts, face_indices):
     return tri_indices
 
 
+@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
 def test_mesh_query_point(test, device):
     from pxr import Usd, UsdGeom
 
@@ -480,6 +503,7 @@ def mesh_query_point_loss(
     loss[tid] = dist
 
 
+@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
 def test_adj_mesh_query_point(test, device):
     from pxr import Usd, UsdGeom
 
@@ -574,6 +598,11 @@ def sample_furthest_points(mesh: wp.uint64, query_points: wp.array(dtype=wp.vec3
 
         query_result[tid] = wp.length_sq(p - closest)
 
+    query = wp.mesh_query_furthest_point_no_sign(mesh, p, 0.0)
+    wp.expect_eq(query.face, face)
+    wp.expect_eq(query.u, bary_u)
+    wp.expect_eq(query.v, bary_v)
+
 
 @wp.kernel
 def sample_furthest_points_brute(
@@ -593,6 +622,7 @@ def sample_furthest_points_brute(
     query_result[tid] = max_dist_sq
 
 
+@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
 def test_mesh_query_furthest_point(test, device):
     from pxr import Usd, UsdGeom
 
@@ -626,32 +656,18 @@ def test_mesh_query_furthest_point(test, device):
     assert_np_equal(dist_query.numpy(), dist_brute.numpy(), tol=1.0e-3)
 
 
-def register(parent):
-    devices = get_test_devices()
+devices = get_test_devices()
 
-    class TestMeshQuery(parent):
-        pass
 
-    # USD import failures should not count as a test failure
-    try:
-        from pxr import Usd, UsdGeom
+class TestMeshQueryPoint(unittest.TestCase):
+    pass
 
-        have_usd = True
-    except:
-        have_usd = False
 
-    if have_usd:
-        add_function_test(TestMeshQuery, "test_mesh_query_point", test_mesh_query_point, devices=devices)
-        add_function_test(
-            TestMeshQuery, "test_mesh_query_furthest_point", test_mesh_query_furthest_point, devices=devices
-        )
-        add_function_test(TestMeshQuery, "test_adj_mesh_query_point", test_adj_mesh_query_point, devices=devices)
-
-    return TestMeshQuery
+add_function_test(TestMeshQueryPoint, "test_mesh_query_point", test_mesh_query_point, devices=devices)
+add_function_test(TestMeshQueryPoint, "test_mesh_query_furthest_point", test_mesh_query_furthest_point, devices=devices)
+add_function_test(TestMeshQueryPoint, "test_adj_mesh_query_point", test_adj_mesh_query_point, devices=devices)
 
 
 if __name__ == "__main__":
     wp.build.clear_kernel_cache()
-    _ = register(unittest.TestCase)
-
     unittest.main(verbosity=2)

warp/tests/test_mesh_query_ray.py

@@ -10,8 +10,7 @@ import unittest
 import numpy as np
 
 import warp as wp
-from warp.tests.test_base import *
-
+from warp.tests.unittest_utils import *
 
 wp.init()
 
@@ -66,8 +65,9 @@ def mesh_query_ray_loss(
     loss[tid] = l
 
 
+@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
 def test_mesh_query_ray_grad(test, device):
-    from pxr import Usd, UsdGeom, Gf, Sdf
+    from pxr import Usd, UsdGeom
 
     # test tri
     # print("Testing Single Triangle")
@@ -209,7 +209,7 @@ def raycast_kernel(
     sign = float(0.0)  # hit face sign
     n = wp.vec3()  # hit face normal
     f = int(0)  # hit face index
-    max_dist = 1e6  # max raycast disance
+    max_dist = 1e6  # max raycast distance
 
     # ray cast against the mesh
     tid = wp.tid()
@@ -258,29 +258,17 @@ def test_mesh_query_ray_edge(test, device):
     test.assertEqual(counts.numpy()[0], n)
 
 
-def register(parent):
-    devices = get_test_devices()
-
-    class TestMeshQueryRay(parent):
-        pass
-
-    add_function_test(TestMeshQueryRay, "test_mesh_query_ray_edge", test_mesh_query_ray_edge, devices=devices)
+devices = get_test_devices()
 
-    # USD import failures should not count as a test failure
-    try:
-        from pxr import Usd, UsdGeom
 
-        have_usd = True
-    except:
-        have_usd = False
+class TestMeshQueryRay(unittest.TestCase):
+    pass
 
-    if have_usd:
-        add_function_test(TestMeshQueryRay, "test_mesh_query_ray_grad", test_mesh_query_ray_grad, devices=devices)
 
-    return TestMeshQueryRay
+add_function_test(TestMeshQueryRay, "test_mesh_query_ray_edge", test_mesh_query_ray_edge, devices=devices)
+add_function_test(TestMeshQueryRay, "test_mesh_query_ray_grad", test_mesh_query_ray_grad, devices=devices)
 
 
 if __name__ == "__main__":
     wp.build.clear_kernel_cache()
-    _ = register(unittest.TestCase)
     unittest.main(verbosity=2)

warp/tests/test_mlp.py

@@ -8,8 +8,9 @@
 import unittest
 
 import numpy as np
+
 import warp as wp
-from warp.tests.test_base import *
+from warp.tests.unittest_utils import *
 
 wp.init()
 
@@ -259,19 +260,17 @@ def profile_mlp_warp(device):
 # profile_mlp_torch("cuda")
 
 
-def register(parent):
-    devices = get_test_devices()
+devices = get_test_devices()
+
 
-    class TestMLP(parent):
-        pass
+class TestMLP(unittest.TestCase):
+    pass
 
-    add_function_test(TestMLP, "test_mlp", test_mlp, devices=devices)
-    add_function_test(TestMLP, "test_mlp_grad", test_mlp_grad, devices=devices)
 
-    return TestMLP
+add_function_test(TestMLP, "test_mlp", test_mlp, devices=devices)
+add_function_test(TestMLP, "test_mlp_grad", test_mlp_grad, devices=devices)
 
 
 if __name__ == "__main__":
     wp.build.clear_kernel_cache()
-    _ = register(unittest.TestCase)
     unittest.main(verbosity=2, failfast=False)

warp/tests/test_model.py

@@ -7,108 +7,104 @@
 
 import unittest
 
+import numpy as np
+
 import warp as wp
-from warp.tests.test_base import *
 from warp.sim import ModelBuilder
-
-import numpy as np
+from warp.tests.unittest_utils import *
 
 wp.init()
 
 
-def register(parent):
-    class TestModel(parent):
-        def test_add_triangles(self):
-            rng = np.random.default_rng(123)
-
-            pts = np.array(
-                [
-                    [-0.00585869, 0.34189449, -1.17415233],
-                    [-1.894547, 0.1788074, 0.9251329],
-                    [-1.26141048, 0.16140787, 0.08823282],
-                    [-0.08609255, -0.82722546, 0.65995427],
-                    [0.78827592, -1.77375711, -0.55582718],
-                ]
-            )
-            tris = np.array([[0, 3, 4], [0, 2, 3], [2, 1, 3], [1, 4, 3]])
-
-            builder1 = ModelBuilder()
-            builder2 = ModelBuilder()
-            for pt in pts:
-                builder1.add_particle(pt, [0.0, 0.0, 0.0], 1.0)
-                builder2.add_particle(pt, [0.0, 0.0, 0.0], 1.0)
-
-            # test add_triangle(s) with default arguments:
-            areas = builder2.add_triangles(tris[:, 0], tris[:, 1], tris[:, 2])
-            for i, t in enumerate(tris):
-                area = builder1.add_triangle(t[0], t[1], t[2])
-                self.assertAlmostEqual(area, areas[i], places=6)
-
-            # test add_triangle(s) with non default arguments:
-            tri_ke = rng.standard_normal(size=pts.shape[0])
-            tri_ka = rng.standard_normal(size=pts.shape[0])
-            tri_kd = rng.standard_normal(size=pts.shape[0])
-            tri_drag = rng.standard_normal(size=pts.shape[0])
-            tri_lift = rng.standard_normal(size=pts.shape[0])
-            for i, t in enumerate(tris):
-                builder1.add_triangle(
-                    t[0],
-                    t[1],
-                    t[2],
-                    tri_ke[i],
-                    tri_ka[i],
-                    tri_kd[i],
-                    tri_drag[i],
-                    tri_lift[i],
-                )
-            builder2.add_triangles(tris[:, 0], tris[:, 1], tris[:, 2], tri_ke, tri_ka, tri_kd, tri_drag, tri_lift)
-
-            assert_np_equal(np.array(builder1.tri_indices), np.array(builder2.tri_indices))
-            assert_np_equal(np.array(builder1.tri_poses), np.array(builder2.tri_poses), tol=1.0e-6)
-            assert_np_equal(np.array(builder1.tri_activations), np.array(builder2.tri_activations))
-            assert_np_equal(np.array(builder1.tri_materials), np.array(builder2.tri_materials))
-
-        def test_add_edges(self):
-            rng = np.random.default_rng(123)
-
-            pts = np.array(
-                [
-                    [-0.00585869, 0.34189449, -1.17415233],
-                    [-1.894547, 0.1788074, 0.9251329],
-                    [-1.26141048, 0.16140787, 0.08823282],
-                    [-0.08609255, -0.82722546, 0.65995427],
-                    [0.78827592, -1.77375711, -0.55582718],
-                ]
+class TestModel(unittest.TestCase):
+    def test_add_triangles(self):
+        rng = np.random.default_rng(123)
+
+        pts = np.array(
+            [
+                [-0.00585869, 0.34189449, -1.17415233],
+                [-1.894547, 0.1788074, 0.9251329],
+                [-1.26141048, 0.16140787, 0.08823282],
+                [-0.08609255, -0.82722546, 0.65995427],
+                [0.78827592, -1.77375711, -0.55582718],
+            ]
+        )
+        tris = np.array([[0, 3, 4], [0, 2, 3], [2, 1, 3], [1, 4, 3]])
+
+        builder1 = ModelBuilder()
+        builder2 = ModelBuilder()
+        for pt in pts:
+            builder1.add_particle(wp.vec3(pt), wp.vec3(), 1.0)
+            builder2.add_particle(wp.vec3(pt), wp.vec3(), 1.0)
+
+        # test add_triangle(s) with default arguments:
+        areas = builder2.add_triangles(tris[:, 0], tris[:, 1], tris[:, 2])
+        for i, t in enumerate(tris):
+            area = builder1.add_triangle(t[0], t[1], t[2])
+            self.assertAlmostEqual(area, areas[i], places=6)
+
+        # test add_triangle(s) with non default arguments:
+        tri_ke = rng.standard_normal(size=pts.shape[0])
+        tri_ka = rng.standard_normal(size=pts.shape[0])
+        tri_kd = rng.standard_normal(size=pts.shape[0])
+        tri_drag = rng.standard_normal(size=pts.shape[0])
+        tri_lift = rng.standard_normal(size=pts.shape[0])
+        for i, t in enumerate(tris):
+            builder1.add_triangle(
+                t[0],
+                t[1],
+                t[2],
+                tri_ke[i],
+                tri_ka[i],
+                tri_kd[i],
+                tri_drag[i],
+                tri_lift[i],
             )
-            edges = np.array([[0, 4, 3, 1], [3, 2, 4, 1]])
-
-            builder1 = ModelBuilder()
-            builder2 = ModelBuilder()
-            for pt in pts:
-                builder1.add_particle(pt, [0.0, 0.0, 0.0], 1.0)
-                builder2.add_particle(pt, [0.0, 0.0, 0.0], 1.0)
-
-            # test defaults:
-            for i in range(2):
-                builder1.add_edge(edges[i, 0], edges[i, 1], edges[i, 2], edges[i, 3])
-            builder2.add_edges(edges[:, 0], edges[:, 1], edges[:, 2], edges[:, 3])
-
-            # test non defaults:
-            rest = rng.standard_normal(size=2)
-            edge_ke = rng.standard_normal(size=2)
-            edge_kd = rng.standard_normal(size=2)
-            for i in range(2):
-                builder1.add_edge(edges[i, 0], edges[i, 1], edges[i, 2], edges[i, 3], rest[i], edge_ke[i], edge_kd[i])
-            builder2.add_edges(edges[:, 0], edges[:, 1], edges[:, 2], edges[:, 3], rest, edge_ke, edge_kd)
-
-            assert_np_equal(np.array(builder1.edge_indices), np.array(builder2.edge_indices))
-            assert_np_equal(np.array(builder1.edge_rest_angle), np.array(builder2.edge_rest_angle), tol=1.0e-4)
-            assert_np_equal(np.array(builder1.edge_bending_properties), np.array(builder2.edge_bending_properties))
-
-    return TestModel
+        builder2.add_triangles(tris[:, 0], tris[:, 1], tris[:, 2], tri_ke, tri_ka, tri_kd, tri_drag, tri_lift)
+
+        assert_np_equal(np.array(builder1.tri_indices), np.array(builder2.tri_indices))
+        assert_np_equal(np.array(builder1.tri_poses), np.array(builder2.tri_poses), tol=1.0e-6)
+        assert_np_equal(np.array(builder1.tri_activations), np.array(builder2.tri_activations))
+        assert_np_equal(np.array(builder1.tri_materials), np.array(builder2.tri_materials))
+
+    def test_add_edges(self):
+        rng = np.random.default_rng(123)
+
+        pts = np.array(
+            [
+                [-0.00585869, 0.34189449, -1.17415233],
+                [-1.894547, 0.1788074, 0.9251329],
+                [-1.26141048, 0.16140787, 0.08823282],
+                [-0.08609255, -0.82722546, 0.65995427],
+                [0.78827592, -1.77375711, -0.55582718],
+            ]
+        )
+        edges = np.array([[0, 4, 3, 1], [3, 2, 4, 1]])
+
+        builder1 = ModelBuilder()
+        builder2 = ModelBuilder()
+        for pt in pts:
+            builder1.add_particle(wp.vec3(pt), wp.vec3(), 1.0)
+            builder2.add_particle(wp.vec3(pt), wp.vec3(), 1.0)
+
+        # test defaults:
+        for i in range(2):
+            builder1.add_edge(edges[i, 0], edges[i, 1], edges[i, 2], edges[i, 3])
+        builder2.add_edges(edges[:, 0], edges[:, 1], edges[:, 2], edges[:, 3])
+
+        # test non defaults:
+        rest = rng.standard_normal(size=2)
+        edge_ke = rng.standard_normal(size=2)
+        edge_kd = rng.standard_normal(size=2)
+        for i in range(2):
+            builder1.add_edge(edges[i, 0], edges[i, 1], edges[i, 2], edges[i, 3], rest[i], edge_ke[i], edge_kd[i])
+        builder2.add_edges(edges[:, 0], edges[:, 1], edges[:, 2], edges[:, 3], rest, edge_ke, edge_kd)
+
+        assert_np_equal(np.array(builder1.edge_indices), np.array(builder2.edge_indices))
+        assert_np_equal(np.array(builder1.edge_rest_angle), np.array(builder2.edge_rest_angle), tol=1.0e-4)
+        assert_np_equal(np.array(builder1.edge_bending_properties), np.array(builder2.edge_bending_properties))
 
 
 if __name__ == "__main__":
     wp.build.clear_kernel_cache()
-    _ = register(unittest.TestCase)
     unittest.main(verbosity=2)

warp/tests/test_modules_lite.py

@@ -8,42 +8,32 @@
 import unittest
 
 import warp as wp
-from warp.tests.test_base import *
+from warp.tests.unittest_utils import *
 
 wp.init()
 
 
-def test_module_lite_load(test, device):
-    # Load current module
-    wp.load_module()
+devices = get_test_devices()
 
-    # Load named module
-    wp.load_module(wp.config)
 
-    # Load named module (string)
-    wp.load_module(wp.config, recursive=True)
+class TestModuleLite(unittest.TestCase):
+    def test_module_lite_load(self):
+        # Load current module
+        wp.load_module()
 
+        # Load named module
+        wp.load_module(wp.config)
 
-def test_module_lite_options(test, device):
-    wp.set_module_options({"max_unroll": 8})
-    module_options = wp.get_module_options()
-    test.assertIsInstance(module_options, dict)
-    test.assertEqual(module_options["max_unroll"], 8)
+        # Load named module (string)
+        wp.load_module(wp.config, recursive=True)
 
-
-def register(parent):
-    devices = get_test_devices()
-
-    class TestModuleLite(parent):
-        pass
-
-    add_function_test(TestModuleLite, "test_module_lite_load", test_module_lite_load, devices=devices)
-    add_function_test(TestModuleLite, "test_module_lite_get_options", test_module_lite_options, devices=devices)
-
-    return TestModuleLite
+    def test_module_lite_options(self):
+        wp.set_module_options({"max_unroll": 8})
+        module_options = wp.get_module_options()
+        self.assertIsInstance(module_options, dict)
+        self.assertEqual(module_options["max_unroll"], 8)
 
 
 if __name__ == "__main__":
     wp.build.clear_kernel_cache()
-    _ = register(unittest.TestCase)
     unittest.main(verbosity=2)